Gripping Force Feedback System for Neurosurgery

2014 ◽  
Vol 8 (1) ◽  
pp. 83-94 ◽  
Author(s):  
Yoshinori Fujihira ◽  
◽  
Takuya Hanyu ◽  
Yusuke Kanada ◽  
Takeshi Yoneyama ◽  
...  
Keyword(s):  
Force Feedback ◽  
Feedback System ◽  
Force Sensor ◽  
Thin Plates ◽  
Display Device ◽  
Kinesthetic Sense ◽  
The Difference ◽  
Pulling Force ◽  
Gripping Force ◽  
Force Sense

A force feedback manipulator system was developed for use in neurosurgery. The system consists of a multidegree of freedom manipulator with a forcedetecting gripper and a device capable of using force feedback to display kinesthetic sense. The structure, which consists of parallel thin plates in the gripper of the manipulator, enables the detection of a gripping force and a pulling force, which can be used to grip and pull tumors. In this paper, we describe ways of improving the structure of the force sensor. Throughbilateral control, the operation device is able to display the gripping force as its driving force, and the pulling force as the frictional force between the display device and the skin of the finger. We also conducted experiments to test the force sense display capabilities of the developed system. The results showed that the system can display a force and the difference between the softness of different objects that are gripped. The ability of the system to identify different objects is increased by magnifying the detected force using an appropriate scale.

scholarly journals Method for the Detection of Tumor Blood Vessels in Neurosurgery Using a Gripping Force Feedback System

Sensors ◽  
2019 ◽  
Vol 19 (23) ◽  
pp. 5157
Author(s):  
Hiroki Yokota ◽  
Takeshi Yoneyama ◽  
Tetsuyou Watanabe ◽  
Yasuo Sasagawa ◽  
Mitsutoshi Nakada
Keyword(s):  
Blood Vessel ◽  
Blood Vessels ◽  
Force Feedback ◽  
Correlation Coefficients ◽  
Feedback System ◽  
Force Sensor ◽  
Robot System ◽  
Blood Vessel Detection ◽  
Operating Space ◽  
Gripping Force

Avoiding unnecessary bleeding during neuroendoscopic surgeries is crucial because achieving hemostasis in a narrow operating space is challenging. However, when the location of a blood vessel in a tumor cannot be visually confirmed, unintentional damage to the vessel and subsequent bleeding may occur. This study proposes a method for tumor blood vessel detection using a master–slave surgical robot system equipped with a force sensor in the slave gripper. Using this method, blood pulsation inside a tumor was detected, displayed as a gripping force wave, via the slave force sensor. The characteristics of gripping force due to blood pulsation were extracted by measuring the fluctuation of the force in real time. The presence or absence of blood vessels was determined on the basis of cross-correlation coefficients between the gripping force fluctuation waveform due to blood pulsation and model fluctuation waveform. Experimental validation using two types of simulated tumors (soft: E = 6 kPa; hard: E = 38 kPa) and a simulated blood vessel (E = 1.9 MPa, radius = 0.5 mm, thickness = 0.1 mm) revealed that the presence of blood vessels could be detected while gripping at a constant angle and during transient gripping.

Force Feedback Glove for Manipulation of Virtual Objects

1993 ◽  
Vol 5 (1) ◽  
pp. 79-84 ◽  
Author(s):  
Haruhisa Kawasaki ◽  
◽  
Takahiro Hayashi
Keyword(s):  
Feedback Control ◽  
Force Feedback ◽  
Joint Angle ◽  
Force Sensor ◽  
Servo Motor ◽  
Force Transmission ◽  
Transmission Characteristics ◽  
Angle Sensor ◽  
Virtual Objects ◽  
The Difference

This paper presents a new force feedback glove for manipulation of virtual objects. The glove is comprised of wire, link, servo motor, force sensor, and joint angle sensor of fingers. These devices are mounted to the back of glove. The object grasping sense is generated by the force feedback control of the servo motor. We show the force transmission characteristics of the glove and the experimental results of recognition of the difference in rigidity of object.

scholarly journals A 3D-Printed Fin Ray Effect Inspired Soft Robotic Gripper with Force Feedback

Micromachines ◽  
2021 ◽  
Vol 12 (10) ◽  
pp. 1141
Author(s):  
Yang Yang ◽  
Kaixiang Jin ◽  
Honghui Zhu ◽  
Gongfei Song ◽  
Haojian Lu ◽  
...  
Keyword(s):  
Food Industry ◽  
Simple Structure ◽  
Force Feedback ◽  
Force Sensor ◽  
Whole Body ◽  
Service Robot ◽  
Fin Ray ◽  
Wide Range ◽  
3D Printed ◽  
Gripping Force

Soft robotic grippers are able to carry out many tasks that traditional rigid-bodied grippers cannot perform but often have many limitations in terms of control and feedback. In this study, a Fin Ray effect inspired soft robotic gripper is proposed with its whole body directly 3D printed using soft material without the need of assembly. As a result, the soft gripper has a light weight, simple structure, is enabled with high compliance and conformability, and is able to grasp objects with arbitrary geometry. A force sensor is embedded in the inner side of the gripper, which allows the contact force required to grip the object to be measured in order to guarantee successful grasping and to provide the most suitable gripping force. In addition, it enables control and data monitoring of the gripper’s operating state at all times. Characterization and grasping demonstration of the gripper are given in the Experiment section. Results show that the gripper can be used in a wide range of scenarios and applications, such as the service robot and food industry.

scholarly journals Vision-Based Suture Tensile Force Estimation in Robotic Surgery

Sensors ◽  
2020 ◽  
Vol 21 (1) ◽  
pp. 110
Author(s):  
Won-Jo Jung ◽  
Kyung-Soo Kwak ◽  
Soo-Chul Lim
Keyword(s):  
Force Feedback ◽  
Short Term Memory ◽  
Tensile Force ◽  
Force Sensor ◽  
Interaction Force ◽  
Force Estimation ◽  
Training Experience ◽  
Pulling Force

Compared to laparoscopy, robotics-assisted minimally invasive surgery has the problem of an absence of force feedback, which is important to prevent a breakage of the suture. To overcome this problem, surgeons infer the suture force from their proprioception and 2D image by comparing them to the training experience. Based on this idea, a deep-learning-based method using a single image and robot position to estimate the tensile force of the sutures without a force sensor is proposed. A neural network structure with a modified Inception Resnet-V2 and Long Short Term Memory (LSTM) networks is used to estimate the suture pulling force. The feasibility of proposed network is verified using the generated DB, recording the interaction under the condition of two different artificial skins and two different situations (in vivo and in vitro) at 13 viewing angles of the images by changing the tool positions collected from the master-slave robotic system. From the evaluation conducted to show the feasibility of the interaction force estimation, the proposed learning models successfully estimated the tensile force at 10 unseen viewing angles during training.

scholarly journals Development and Testing of a Methodology for the Assessment of Acceptability of LKA Systems

Machines ◽  
2020 ◽  
Vol 8 (3) ◽  
pp. 47 ◽  
Author(s):  
Luca Salvati ◽  
Matteo d’Amore ◽  
Anita Fiorentino ◽  
Arcangelo Pellegrino ◽  
Pasquale Sena ◽  
...  
Keyword(s):  
Force Feedback ◽  
Feedback System ◽  
Operating Conditions ◽  
Experimental Methodology ◽  
Driving Safety ◽  
Steering Wheel ◽  
Human In The Loop ◽  
Automation Systems ◽  
Driving Stability ◽  
Lane Keeping

In recent years, driving simulators have been widely used by automotive manufacturers and researchers in human-in-the-loop experiments, because they can reduce time and prototyping costs, and provide unlimited parametrization, more safety, and higher repeatability. Simulators play an important role in studies about driver behavior in operating conditions or with unstable vehicles. The aim of the research is to study the effects that the force feedback (f.f.b.), provided to steering wheel by a lane-keeping-assist (LKA) system, has on a driver’s response in simulators. The steering’s force feedback system is tested by reproducing the conditions of criticality of the LKA system in order to minimize the distance required to recover the driving stability as a function of set f.f.b. intensity and speed. The results, obtained in three specific criticality conditions, show that the behaviour of the LKA system, reproduced in the simulator, is not immediately understood by the driver and, sometimes, it is in opposition with the interventions performed by the driver to ensure driving safety. The results also compare the performance of the subjects, either overall and classified into subgroups, with reference to the perception of the LKA system, evaluated by means of a questionnaire. The proposed experimental methodology is to be regarded as a contribution for the integration of acceptance tests in the evaluation of automation systems.

scholarly journals A Disposable Pneumatic Microgripper for Cell Manipulation with Image-Based Force Sensing

Micromachines ◽  
2019 ◽  
Vol 10 (10) ◽  
pp. 707 ◽  
Author(s):  
Benjamin Gursky ◽  
Sebastian Bütefisch ◽  
Monika Leester-Schädel ◽  
Kangqi Li ◽  
Barbara Matheis ◽  
...  
Keyword(s):  
Cell Damage ◽  
Cost Effective ◽  
Force Sensor ◽  
Cell Manipulation ◽  
Patch Clamp Technique ◽  
Liquid Environment ◽  
Reusable Components ◽  
Electrophysiological Measurements ◽  
Single Use ◽  
Gripping Force

A new design for a single-use disposable pneumatic microgripper is presented in this paper. It enables very cost-effective batch microfabrication in SU-8 with a single lithography mask by shifting manufacturing complexity into reusable components. An optically readable force sensor with potential to be used in a feedback loop has been integrated in order to enable gripping with a controlled force. The sensors are first examined separately from the gripper and exhibit good linearity. The gripper function utilizes the disposable gripper element together with a reusable gripper fixture. During experiments, the pneumatically actuated microgripper can vary the gripping force within a range of a few mN (up to 5.7 mN was observed). This microgripper is planned to be used in a liquid environment for gripping larger aggregates of cells in combination with the patch clamp technique. This approach will allow Langerhans islets suspended in an electrolyte solution to be grasped and held during electrophysiological measurements without cell damage.

Evidence of positive force feedback among hindlimb extensors in the intact standing cat

1995 ◽  
Vol 73 (6) ◽  
pp. 2578-2583 ◽  
Author(s):  
C. A. Pratt
Keyword(s):  
Force Feedback ◽  
Functional Organization ◽  
Force Plate ◽  
Feedback System ◽  
Implanted Electrodes ◽  
Golgi Tendon Organs ◽  
Ia Afferents ◽  
Extensor Muscles ◽  
Stimulation Of ◽  
Positive Force

1. The functional organization of heterogenic reflexes produced by activation of extensor force receptors (Golgi tendon organs) was studied in intact cats during stationary stance. Intramuscular stimulation (200 Hz, 20 ms) of hindlimb extensor muscles via chronically implanted electrodes was used to evoke weak muscle contractions and naturally activate Golgi tendon organ Ib afferents while cats stood unrestrained with each paw on a moveable triaxial force plate. 2. Intramuscular stimulation of every hindlimb extensor muscle tested in this study evoked excitatory responses that were widely distributed among hindlimb extensor muscles. Source and target specializations in the functional organization of this positive force feedback system were also observed. For example, stimulation of ankle extensors typically excited extensors and flexors at the ankle and hip (but not knee), whereas stimulation of hip extensors typically excited only extensors at all three joints. In addition, intramuscular stimulation of either lateral (LG) or medial (MG) gastrocnemius consistently inhibited soleus while exciting other extensors at the ankle and more proximal joints. 3. The electromyographic (EMG) reflex responses described above are attributed to the natural (via muscle contraction) activation of extensor group Ib afferents. Direct activation of intramuscular afferents by the stimulus was unlikely because there was no evidence that Ia afferents, which have the lowest electrical thresholds, were activated. Both the observed inhibition of the synergist, soleus, and the excitation of the antagonist, tibialis anterior, produced by gastrocnemius stimulation are opposite to the reflex effects that would be produced at the ankle by activation of gastrocnemius Ia afferents.(ABSTRACT TRUNCATED AT 250 WORDS)

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